Swerve turning trouble

IntrovertedBlob · October 6, 2024, 11:32pm

how do i code a talon srx to move to a position in degrees using a attached lamprey 2 absolute encoder?

Fletch1373 · October 6, 2024, 11:45pm

We’re not Google or ChatGPT.

What have you already tried?
How isn’t it working for you?
What exactly are you expecting it to do?
Can you share your code?

IntrovertedBlob · October 6, 2024, 11:51pm

we have andymark swerve and steer and we are trying to get the steering motors to move the modules to point in a direction.

IntrovertedBlob · October 7, 2024, 12:27am

i tried using motion magic and it didn’t work and gave our robot inconsistent issues where the swerve modules would sometimes not move and sometimes spin randomly

cmdada · October 7, 2024, 1:16pm

github.com

Team1157/robot-code-2025/blob/main/swerve/src/main/java/frc/robot/SwerveModule.java

package frc.robot;

import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.simulation.FlywheelSim;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.MathUtil;

public class SwerveModule {
    private static final double kWheelRadius = 0.1016; // 4 inch wheel radius in meters
    private static final int kEncoderResolution = 1024; // Lamprey is 10-bit
    private static final double kMaxVoltage = 12.0; // Maximum voltage for the turning motor

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